My sanguino program is working quite well now. I used direct control of timer0 and direct port access on port C to get pwm of 6 normal outputs.I ran into a problem of not being able to generate a fast enough frequency, so I had to reduce the resolution of my sin wave array from a value every 2 degrees to every 6 degrees. I think this should still be fine for motor control, it just may produce some wicked harmonics. I'm still waiting for an encoder I bought off ebay, and two firing cards from the Reprap store.
Next step is to find a small three phase motor, some sort of shunt for measuring the current and start getting things to spin. Woot!
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